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Add cli 'motor' command

Browse source 
It allows to get and set single motor output
value.
This commit is contained in:
Davide Bertola 2013-11-01 11:28:29 +01:00
parent 639f534c31
commit 786d727705
2 changed files with 52 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

43
src/cli.c
View file

@ -12,6 +12,7 @@ static void cliFeature(char *cmdline);
static void cliHelp(char *cmdline); static void cliHelp(char *cmdline);
static void cliMap(char *cmdline); static void cliMap(char *cmdline);
static void cliMixer(char *cmdline); static void cliMixer(char *cmdline);
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline); static void cliProfile(char *cmdline);
static void cliSave(char *cmdline); static void cliSave(char *cmdline);
static void cliSet(char *cmdline); static void cliSet(char *cmdline);
@ -25,6 +26,9 @@ extern uint8_t accHardware;
// from config.c RC Channel mapping // from config.c RC Channel mapping
extern const char rcChannelLetters[]; extern const char rcChannelLetters[];
// from mixer.c
extern int16_t motor_disarmed[MAX_MOTORS];
// buffer // buffer
static char cliBuffer[48]; static char cliBuffer[48];
static uint32_t bufferIndex = 0; static uint32_t bufferIndex = 0;
@ -74,6 +78,7 @@ const clicmd_t cmdTable[] = {
{ "help", "", cliHelp }, { "help", "", cliHelp },
{ "map", "mapping of rc channel order", cliMap }, { "map", "mapping of rc channel order", cliMap },
{ "mixer", "mixer name or list", cliMixer }, { "mixer", "mixer name or list", cliMixer },
{ "motor", "get/set motor output value", cliMotor },
{ "profile", "index (0 to 2)", cliProfile }, { "profile", "index (0 to 2)", cliProfile },
{ "save", "save and reboot", cliSave }, { "save", "save and reboot", cliSave },
{ "set", "name=value or blank or * for list", cliSet }, { "set", "name=value or blank or * for list", cliSet },
@ -725,6 +730,44 @@ static void cliMixer(char *cmdline)
} }
} }
static void cliMotor(char *cmdline)
{
int motor_index;
int motor_value;
int len;
char *tmp = NULL;
char *sep = " ";
len = strlen(cmdline);
tmp = strtok(cmdline, sep);
if (tmp == NULL) {
printf("Usage:\r\n");
printf("motor [index] shows the output value of one motor\r\n");
printf("motor [index] [value] sets the output value of one motor\r\n");
return;
}
motor_index = atoi(tmp);
if (motor_index < 0 || motor_index >= MAX_MOTORS) {
printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
return;
}
tmp = strtok(NULL, sep);
if (tmp == NULL) {
tmp = strtok(cmdline, sep);
motor_index = atoi(tmp);
printf("Motor %d is set at %d\r\n", motor_index,
motor_disarmed[motor_index]);
return;
}
motor_value = atoi(tmp);
printf("Setting motor %d to %d\r\n", motor_index, motor_value);
motor_disarmed[motor_index] = motor_value;
}
static void cliProfile(char *cmdline) static void cliProfile(char *cmdline)
{ {
uint8_t len; uint8_t len;

11
src/mixer.c
View file

@ -3,6 +3,7 @@
static uint8_t numberMotor = 0; static uint8_t numberMotor = 0;
int16_t motor[MAX_MOTORS]; int16_t motor[MAX_MOTORS];
int16_t motor_disarmed[MAX_MOTORS];
int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
static motorMixer_t currentMixer[MAX_MOTORS]; static motorMixer_t currentMixer[MAX_MOTORS];
@ -192,6 +193,11 @@ void mixerInit(void)
} }
} }
} }
// set disarmed motor values
for (i = 0; i < MAX_MOTORS; i++) {
motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
}
} }
void mixerLoadMix(int index) void mixerLoadMix(int index)
@ -436,7 +442,8 @@ void mixTable(void)
motor[i] = mcfg.mincommand; motor[i] = mcfg.mincommand;
} }
} }
if (!f.ARMED) if (!f.ARMED) {
motor[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; motor[i] = motor_disarmed[i];
}
} }
} }